Robson developed a friendship with Jackson when he was five and even appeared in the music videos for Black or White, Jam and Heal the World. Now 30 years old, Robson is a well-respected choreographer who has appeared on So You Think You Can Dance and hosted the MTV show The Wade Robson Project in 2003.

In the papers, Robson's lawyer asks to file the childhood sexual abuse case under seal, which would prevent it from being made available to the public.

Howard Weitzman, attorney for the Michael Jackson Estate and its co-Executors, calls the claim "outrageous and pathetic" in a statement to ET.

"Mr. Robson's claim is outrageous and pathetic. This is a young man who has testified at least twice under oath over the past 20 years and said in numerous interviews that Michael Jackson never did anything inappropriate to him or with him. Now, nearly 4 years after Michael has passed this sad and less than credible claim has been made. We are confident that the court will see this for what it is," the statement reads.

Robson's lawyer counters, "Michael Jackson was a monster and in their hearts every normal person knows it. Wade Robson, in addition to being one of the most talented people on the planet, is one of the kindest, most gentle, decent and introspective human beings one will ever meet. He is the loving father of a young son and happily married. Last year, on a career trajectory that was off the charts, he collapsed under the stress and sexual trauma of what had happened to him for seven years as a child. He lived with the brain washing by a sexual predator until the burden of it all crushed him. 'If anyone ever finds out about what we did we will go to jail for the rest of our lives' and 'our lives will be ruined forever,' Michael would say to him. This kind of intimidation of a child by a sexual predator is tragically characteristic and effective, keeping them quiet about the abuse - often for a lifetime. The irony here is that we were the ones who filed under seal and still tried to keep it secret. Amidst all the accusations of a financial motive, no amount of damages is even listed in our papers. There are significant legal issues involved in this case that have the potential to impact lives beyond just our client. But the Jackson money machine, in which everyone is indeed financially motivated, is at it once again to keep the truth from coming out. This time it won’t work."